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<div class="title">sac_model_parallel_line.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
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<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLEL_LINE_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_SAMPLE_CONSENSUS_MODEL_PARALLEL_LINE_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model_line.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_parallel_line.html">   66</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html">SampleConsensusModelParallelLine</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_sample_consensus_model_line.html">SampleConsensusModelLine</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::model_name_</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">SampleConsensusModelLine&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModelLine&lt;PointT&gt;::PointCloudPtr PointCloudPtr;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModelLine&lt;PointT&gt;::PointCloudConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;SampleConsensusModelParallelLine&gt; Ptr;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_parallel_line.html#af4f90cb7fd928b447296a722d6fa6cc9">   81</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#af4f90cb7fd928b447296a722d6fa6cc9">SampleConsensusModelParallelLine</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud,</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;                                        <span class="keywordtype">bool</span> random = <span class="keyword">false</span>)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        : <a class="code" href="classpcl_1_1_sample_consensus_model_line.html">SampleConsensusModelLine</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (cloud, random)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#ab6b784039fec46f8f32001d6b093df25">axis_</a> (Eigen::Vector3f::Zero ())</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a936ed492f86974639b82de8dc20e710e">eps_angle_</a> (0.0)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a> = <span class="stringliteral">&quot;SampleConsensusModelParallelLine&quot;</span>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">sample_size_</a> = 2;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">model_size_</a> = 6;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_parallel_line.html#af8b26a5c1066b7158f6c9ac6d3b7bfa3">   97</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#af8b26a5c1066b7158f6c9ac6d3b7bfa3">SampleConsensusModelParallelLine</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud,</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                                        <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                                        <span class="keywordtype">bool</span> random = <span class="keyword">false</span>)</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        : <a class="code" href="classpcl_1_1_sample_consensus_model_line.html">SampleConsensusModelLine</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (cloud, indices, random)</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#ab6b784039fec46f8f32001d6b093df25">axis_</a> (Eigen::Vector3f::Zero ())</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        , <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a936ed492f86974639b82de8dc20e710e">eps_angle_</a> (0.0)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      {</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">model_name_</a> = <span class="stringliteral">&quot;SampleConsensusModelParallelLine&quot;</span>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">sample_size_</a> = 2;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">model_size_</a> = 6;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a34484f63157bc60adb3b1ffca7943948">  110</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a34484f63157bc60adb3b1ffca7943948">~SampleConsensusModelParallelLine</a> () {}</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_parallel_line.html#acb4097faf67966bb0485748a5621088e">  116</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#acb4097faf67966bb0485748a5621088e">setAxis</a> (<span class="keyword">const</span> Eigen::Vector3f &amp;ax) { <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#ab6b784039fec46f8f32001d6b093df25">axis_</a> = ax; <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#ab6b784039fec46f8f32001d6b093df25">axis_</a>.normalize (); }</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keyword">inline</span> Eigen::Vector3f</div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_parallel_line.html#acf0f7c261106bee13d8974ac37a7fff5">  120</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#acf0f7c261106bee13d8974ac37a7fff5">getAxis</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#ab6b784039fec46f8f32001d6b093df25">axis_</a>); }</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_parallel_line.html#af137b97406484a0c837ba428d3b149b4">  126</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#af137b97406484a0c837ba428d3b149b4">setEpsAngle</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> ea) { <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a936ed492f86974639b82de8dc20e710e">eps_angle_</a> = ea; }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_parallel_line.html#ad9209c7d10fd3703cddd6f4ec4fd2ffc">  129</a></span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#ad9209c7d10fd3703cddd6f4ec4fd2ffc">getEpsAngle</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a936ed492f86974639b82de8dc20e710e">eps_angle_</a>); }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#ae3077204ccbc9222490bbe724fa39070">selectWithinDistance</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients,</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;                            <span class="keyword">const</span> <span class="keywordtype">double</span> threshold,</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;                            std::vector&lt;int&gt; &amp;inliers);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#af0ead11670ea3b23befc3f6d8de20191">countWithinDistance</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients,</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                           <span class="keyword">const</span> <span class="keywordtype">double</span> threshold);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#aba35bb7eb6ca7b019983bbddd8573fb4">getDistancesToModel</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients,</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                           std::vector&lt;double&gt; &amp;distances);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keyword">inline</span> pcl::SacModel</div>
<div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a43a5572d9d6d13677eef215a0c854eaa">  161</a></span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a43a5572d9d6d13677eef215a0c854eaa">getModelType</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (SACMODEL_PARALLEL_LINE); }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::sample_size_</a>;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::model_size_</a>;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a764e15f742e8cd40199039b39fc9f802">isModelValid</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_parallel_line.html#ab6b784039fec46f8f32001d6b093df25">  174</a></span>&#160;      Eigen::Vector3f <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#ab6b784039fec46f8f32001d6b093df25">axis_</a>;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a936ed492f86974639b82de8dc20e710e">  177</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_sample_consensus_model_parallel_line.html#a936ed492f86974639b82de8dc20e710e">eps_angle_</a>;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  };</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;}</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/impl/sac_model_parallel_line.hpp&gt;</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_SAMPLE_CONSENSUS_MODEL_PARALLEL_LINE_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel</a></div><div class="ttdoc">SampleConsensusModel represents the base model class. All sample consensus models must inherit from t...</div><div class="ttdef"><b>Definition:</b> sac_model.h:67</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_a64854cad238a0583093c446dc295f245"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#a64854cad238a0583093c446dc295f245">pcl::SampleConsensusModel::sample_size_</a></div><div class="ttdeci">unsigned int sample_size_</div><div class="ttdoc">The size of a sample from which the model is computed. Every subclass should initialize this appropri...</div><div class="ttdef"><b>Definition:</b> sac_model.h:572</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_ab10fd6af7c7ab78040d4f638a572943f"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#ab10fd6af7c7ab78040d4f638a572943f">pcl::SampleConsensusModel::model_name_</a></div><div class="ttdeci">std::string model_name_</div><div class="ttdoc">The model name.</div><div class="ttdef"><b>Definition:</b> sac_model.h:534</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html_ab7f51bf1c63fcfb05694d0f19c2f7dc3"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html#ab7f51bf1c63fcfb05694d0f19c2f7dc3">pcl::SampleConsensusModel::model_size_</a></div><div class="ttdeci">unsigned int model_size_</div><div class="ttdoc">The number of coefficients in the model. Every subclass should initialize this appropriately.</div><div class="ttdef"><b>Definition:</b> sac_model.h:575</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_line_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_line.html">pcl::SampleConsensusModelLine</a></div><div class="ttdoc">SampleConsensusModelLine defines a model for 3D line segmentation. The model coefficients are defined...</div><div class="ttdef"><b>Definition:</b> sac_model_line.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html">pcl::SampleConsensusModelParallelLine</a></div><div class="ttdoc">SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular co...</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.h:67</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html_a34484f63157bc60adb3b1ffca7943948"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html#a34484f63157bc60adb3b1ffca7943948">pcl::SampleConsensusModelParallelLine::~SampleConsensusModelParallelLine</a></div><div class="ttdeci">virtual ~SampleConsensusModelParallelLine()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.h:110</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html_a43a5572d9d6d13677eef215a0c854eaa"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html#a43a5572d9d6d13677eef215a0c854eaa">pcl::SampleConsensusModelParallelLine::getModelType</a></div><div class="ttdeci">pcl::SacModel getModelType() const</div><div class="ttdoc">Return an unique id for this model (SACMODEL_PARALLEL_LINE).</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.h:161</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html_a764e15f742e8cd40199039b39fc9f802"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html#a764e15f742e8cd40199039b39fc9f802">pcl::SampleConsensusModelParallelLine::isModelValid</a></div><div class="ttdeci">virtual bool isModelValid(const Eigen::VectorXf &amp;model_coefficients)</div><div class="ttdoc">Check whether a model is valid given the user constraints.</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.hpp:91</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html_a936ed492f86974639b82de8dc20e710e"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html#a936ed492f86974639b82de8dc20e710e">pcl::SampleConsensusModelParallelLine::eps_angle_</a></div><div class="ttdeci">double eps_angle_</div><div class="ttdoc">The maximum allowed difference between the line direction and the given axis.</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.h:177</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html_ab6b784039fec46f8f32001d6b093df25"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html#ab6b784039fec46f8f32001d6b093df25">pcl::SampleConsensusModelParallelLine::axis_</a></div><div class="ttdeci">Eigen::Vector3f axis_</div><div class="ttdoc">The axis along which we need to search for a line.</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.h:174</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html_aba35bb7eb6ca7b019983bbddd8573fb4"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html#aba35bb7eb6ca7b019983bbddd8573fb4">pcl::SampleConsensusModelParallelLine::getDistancesToModel</a></div><div class="ttdeci">void getDistancesToModel(const Eigen::VectorXf &amp;model_coefficients, std::vector&lt; double &gt; &amp;distances)</div><div class="ttdoc">Compute all squared distances from the cloud data to a given line model.</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.hpp:76</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html_acb4097faf67966bb0485748a5621088e"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html#acb4097faf67966bb0485748a5621088e">pcl::SampleConsensusModelParallelLine::setAxis</a></div><div class="ttdeci">void setAxis(const Eigen::Vector3f &amp;ax)</div><div class="ttdoc">Set the axis along which we need to search for a line.</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.h:116</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html_acf0f7c261106bee13d8974ac37a7fff5"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html#acf0f7c261106bee13d8974ac37a7fff5">pcl::SampleConsensusModelParallelLine::getAxis</a></div><div class="ttdeci">Eigen::Vector3f getAxis() const</div><div class="ttdoc">Get the axis along which we need to search for a line.</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.h:120</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html_ad9209c7d10fd3703cddd6f4ec4fd2ffc"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html#ad9209c7d10fd3703cddd6f4ec4fd2ffc">pcl::SampleConsensusModelParallelLine::getEpsAngle</a></div><div class="ttdeci">double getEpsAngle() const</div><div class="ttdoc">Get the angle epsilon (delta) threshold (in radians).</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.h:129</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html_ae3077204ccbc9222490bbe724fa39070"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html#ae3077204ccbc9222490bbe724fa39070">pcl::SampleConsensusModelParallelLine::selectWithinDistance</a></div><div class="ttdeci">void selectWithinDistance(const Eigen::VectorXf &amp;model_coefficients, const double threshold, std::vector&lt; int &gt; &amp;inliers)</div><div class="ttdoc">Select all the points which respect the given model coefficients as inliers.</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html_af0ead11670ea3b23befc3f6d8de20191"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html#af0ead11670ea3b23befc3f6d8de20191">pcl::SampleConsensusModelParallelLine::countWithinDistance</a></div><div class="ttdeci">virtual int countWithinDistance(const Eigen::VectorXf &amp;model_coefficients, const double threshold)</div><div class="ttdoc">Count all the points which respect the given model coefficients as inliers.</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.hpp:64</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html_af137b97406484a0c837ba428d3b149b4"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html#af137b97406484a0c837ba428d3b149b4">pcl::SampleConsensusModelParallelLine::setEpsAngle</a></div><div class="ttdeci">void setEpsAngle(const double ea)</div><div class="ttdoc">Set the angle epsilon (delta) threshold.</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.h:126</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html_af4f90cb7fd928b447296a722d6fa6cc9"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html#af4f90cb7fd928b447296a722d6fa6cc9">pcl::SampleConsensusModelParallelLine::SampleConsensusModelParallelLine</a></div><div class="ttdeci">SampleConsensusModelParallelLine(const PointCloudConstPtr &amp;cloud, bool random=false)</div><div class="ttdoc">Constructor for base SampleConsensusModelParallelLine.</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.h:81</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_parallel_line_html_af8b26a5c1066b7158f6c9ac6d3b7bfa3"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_parallel_line.html#af8b26a5c1066b7158f6c9ac6d3b7bfa3">pcl::SampleConsensusModelParallelLine::SampleConsensusModelParallelLine</a></div><div class="ttdeci">SampleConsensusModelParallelLine(const PointCloudConstPtr &amp;cloud, const std::vector&lt; int &gt; &amp;indices, bool random=false)</div><div class="ttdoc">Constructor for base SampleConsensusModelParallelLine.</div><div class="ttdef"><b>Definition:</b> sac_model_parallel_line.h:97</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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